SoroushVahidi/scidocs huggingface dataset:
Embedded System for Motion Control of an Omnidirectional Mobile Robot
(2018)

In this paper, an embedded system for motion control of omnidirectional mobile robots is presented. An omnidirectional mobile robot is a type of holonomic robots. It can move simultaneously and independently in translation and rotation. The RoboCup small-size league, a robotic soccer competition, is chosen as the research platform in this paper. The first part of this research is to design and implement an embedded system that can communicate with a remote server using a wireless link, and execute received commands. Second, a fuzzy-tuned proportional–integral (PI) path planner and a related low-level controller are proposed to attain optimal input for driving a linear discrete dynamic model of the omnidirectional mobile robot. To fit the planning requirements and avoid slippage, velocity, and acceleration filters are also employed. In particular, low-level optimal controllers, such as a linear quadratic regulator (LQR) for multiple-input-multiple-output acceleration and deceleration of velocity are investigated, where an LQR controller is running on the robot with feedback from motor encoders or sensors. Simultaneously, a fuzzy adaptive PI is used as a high-level controller for position monitoring, where an appropriate vision system is used as a source of position feedback. A key contribution presented in this research is an improvement in the combined fuzzy-PI LQR controller over a traditional PI controller. Moreover, the efficiency of the proposed approach and PI controller are also discussed. Simulation and experimental evaluations are conducted with and without external disturbance. An optimal result to decrease the variances between the target trajectory and the actual output is delivered by the onboard regulator controller in this paper. The modeling and experimental results confirm the claim that utilizing the new approach in trajectory-planning controllers results in more precise motion of four-wheeled omnidirectional mobile robots.
Automatic inspection of pavement cracking distress
(2006)

15. Supplementary Notes Project performed in cooperation with the Texas Department of Transportation and the Federal Highway Administration. Project Title: Implementation of Automated Pavement Distress Rating Systems 16. Abstract This paper presents the image-processing algorithm customized for high-speed, real-time inspection of pavement cracking. In the algorithm, a pavement image is divided into grid cells of 8 x 8 pixels, and each cell is classified as a non-crack or crack cell using the grayscale information of the border pixels. Whether a crack cell can be regarded as a basic element (or seed) depends on its contrast to the neighboring cells. A number of crack seeds can be called a crack cluster if they fall on a linear string. A crack cluster corresponds to a dark strip in the original image that may or may not be a section of a real crack. Additional conditions to verify a crack cluster include the requirements in the contrast, width, and length of the strip. If verified crack clusters are oriented in similar directions, they will be joined to become one crack. Because many operations are performed on crack seeds rather than on the original image, crack detection can be executed simultaneously when the frame grabber is forming a new image, which permits a real-time, online pavement survey. The trial test results show good repeatability and accuracy when multiple surveys were conducted in different driving conditions.
Human activity analysis: A review
(2011)

Human activity recognition is an important area of computer vision research. Its applications include surveillance systems, patient monitoring systems, and a variety of systems that involve interactions between persons and electronic devices such as human-computer interfaces. Most of these applications require an automated recognition of high-level activities, composed of multiple simple (or atomic) actions of persons. This article provides a detailed overview of various state-of-the-art research papers on human activity recognition. We discuss both the methodologies developed for simple human actions and those for high-level activities. An approach-based taxonomy is chosen that compares the advantages and limitations of each approach.
 Recognition methodologies for an analysis of the simple actions of a single person are first presented in the article. Space-time volume approaches and sequential approaches that represent and recognize activities directly from input images are discussed. Next, hierarchical recognition methodologies for high-level activities are presented and compared. Statistical approaches, syntactic approaches, and description-based approaches for hierarchical recognition are discussed in the article. In addition, we further discuss the papers on the recognition of human-object interactions and group activities. Public datasets designed for the evaluation of the recognition methodologies are illustrated in our article as well, comparing the methodologies' performances. This review will provide the impetus for future research in more productive areas.
High speed complementary drive of a hybrid MOSFET and IGBT power switch
(2005)

The hybrid integration of an unipolar and a bipolar power semiconductor in parallel combines their advantages whilst avoiding their disadvantages. The drawback of this approach is an increased complexity of the gate drive. This paper proposes a simple hardware solution utilising a transductor to transmit both drive and control energy together with a slow optocoupler providing an enable signal for the respective hybrid switch. Questions regarding the choice of an optimal switching frequency are addressed
A new estimation model of the lightning shielding performance of transmission lines using a fractal approach
(2011)

The path of the lightning discharge shows characteristics of branching and tortuosity, and the lightning shielding failure of the transmission line also has statistical features. In this paper, an improved leader progression model using a fractal approach is introduced, which considers both the deterministic and stochastic features of the downward lightning leader. Based on the proposed model, the statistical features of lightning shielding failure on transmission lines will be analyzed. First, the fractal dimensions of the downward lightning trajectory in simulation are calculated and the value of breakdown probability constant η will be determined based on the fractal dimensions of natural lightning. Second, using the proposed model the shielding failure probability contour around the transmission line space is also obtained and used to describe the shielding failure zone and then the contour curve is applied to analyzing the characteristics of transmission lines that suffer from direct lightning strokes. Moreover, a method to estimate the lightning shielding failure rate of transmission lines is put forward, and the influence of the line height and the shielding angle of ground wires on the shielding failure rate of transmission lines are also investigated.
Thermal management consumption and its effect on remaining range estimation of electric vehicles
(2014)

This paper investigates the significance of thermal management energy consumption on the range of electric vehicles. It is necessary to combine consumption models of powertrain components such as the electric machine, power electronics and high voltage battery that take into account trip-based information containing a predicted speed profile and elevation data with a thermal management system that has the ability to incorporate predicted thermal losses of the powertrain. The thermal management system refers to the sum of all components within the refrigeration cycle of the vehicle as well as the associated control strategy. Based on the results of a real world drive study in an electric vehicle, it is demonstrated, that the range uncertainties introduced by the consumption of the thermal management are significant and should be considered when developing predictive range estimation algorithms. These uncertainties are further investigated by an energy flow based thermal system model. In order to minimize range uncertainties, a system architecture for the prediction of thermal management consumption is proposed.
Developing pervasive multi-agent systems with nature-inspired coordination
(2015)

Pervasive computing systems can bemodelled effectively as populations of interacting autonomous components. The key challenge to realizing suchmodels is in getting separatelyspecified and -developed sub-systems to discover and interoperate with each other in an open and extensible way, supported by appropriate middleware services. In this paper, we argue that nature-inspired coordination models offer a promising way of addressing this challenge.We first frame the various dimensions alongwhich nature-inspired coordination models can be defined, and survey themost relevant proposals in the area.We describe the nature-inspired coordination model developed within the SAPERE project as a synthesis of existing approaches, and show how it can effectively support the multifold requirements of modern and emerging pervasive services. We conclude by identifying what we think are the open research challenges in this area, and identify some research directions that we believe are promising. © 2014 Elsevier B.V. All rights reserved.
Safe Control under Uncertainty
(2015)

Controller synthesis for hybrid systems that satisfy temporal specifications expressing various system properties is a challenging problem that has drawn the attention of many researchers. However, making the assumption that such temporal properties are deterministic is far from the reality. For example, many of the properties the controller has to satisfy are learned through machine learning techniques based on sensor input data. In this paper, we propose a new logic, Probabilistic Signal Temporal Logic (PrSTL), as an expressive language to define the stochastic properties, and enforce probabilistic guarantees on them. We further show how to synthesize safe controllers using this logic for cyber-physical systems under the assumption that the stochastic properties are based on a set of Gaussian random variables. One of the key distinguishing features of PrSTL is that the encoded logic is adaptive and changes as the system encounters additional data and updates its beliefs about the latent random variables that define the safety properties. We demonstrate our approach by synthesizing safe controllers under the PrSTL specifications for multiple case studies including control of quadrotors and autonomous vehicles in dynamic environments.
A Fast Linkage Detection Scheme for Multi-Source Information Integration
(2005)

Record linkage refers to techniques for identifying records associated with the same real-world entities. Record linkage is not only crucial in integrating multi-source databases that have been generated independently, but is also considered to be one of the key issues in integrating heterogeneous Web resources. However, when targeting large-scale data, the cost of enumerating all the possible linkages often becomes impracticably high. Based on this background, this paper proposes a fast and efficient method for linkage detection. The features of the proposed approach are: first, it exploits a suffix array structure that enables linkage detection using variable length n-grams. Second, it dynamically generates blocks of possibly associated records using ‘blocking keys’ extracted from already known reliable linkages. The results from our preliminary experiments where the proposed method was applied to the integration of four bibliographic databases, which scale up to more than 10 million records, are also reported in the paper.
End-to-End Packet Delay and Loss Behavior in the Internet
(1993)

We use the measured round trip delays of small UDP probe packets sent at regular time intervals to analyze the end-to-end packet delay and loss behavior in the Internet. By varying the interval between probe packets, it is possible to study the structure of the Internet load over different time scales. In this paper, the time scales of interest range from a few milliseconds to a few minutes. Our observations agree with results obtained by others using simulation and experimental approaches. For example, our estimates of Internet workload are consistent with the hypothesis of a mix of bulk traffic with larger packet size, and interactive traffic with smaller packet size. We observe compression (or clustering) of the probe packets, rapid fluctuations of queueing delays over small intervals, etc. Our results also show interesting and less expected behavior. For example, we find that the losses of probe packets are essentially random unless the probe traffic uses a large fraction of the available bandwidth. We discuss the implications of these results on the design of control mechanisms for the Internet.
The Effects of User Features on Twitter Hate Speech Detection
(2018)

The paper investigates the potential effects user features have on hate speech classification. A quantitative analysis of Twitter data was conducted to better understand user characteristics, but no correlations were found between hateful text and the characteristics of the users who had posted it. However, experiments with a hate speech classifier based on datasets from three different languages showed that combining certain user features with textual features gave slight improvements of classification performance. While the incorporation of user features resulted in varying impact on performance for the different datasets used, user network-related features provided the most consistent improvements.
Be Appropriate and Funny: Automatic Entity Morph Encoding
(2014)

Internet users are keen on creating different kinds of morphs to avoid censorship, express strong sentiment or humor. For example, in Chinese social media, users often use the entity morph “方便面 (Instant Noodles)” to refer to “周永康 (Zhou Yongkang)” because it shares one character “康 (Kang)” with the well-known brand of instant noodles “康师傅 (Master Kang)”. We developed a wide variety of novel approaches to automatically encode proper and interesting morphs, which can effectively pass decoding tests 1.
SURREAL: SUbgraph Robust REpresentAtion Learning
(2018)

The success of graph embeddings or node representation learning in a variety of downstream tasks, such as node classification, link prediction, and recommendation systems, has led to their popularity in recent years. Representation learning algorithms aim to preserve local and global network structure by identifying node neighborhood notions. However, many existing algorithms generate embeddings that fail to properly preserve the network structure, or lead to unstable representations due to random processes (e.g., random walks to generate context) and, thus, cannot generate to multi-graph problems. In this paper, we propose a robust graph embedding using connection subgraphs algorithm, entitled “SURREAL,” a novel, stable graph embedding algorithmic framework. SURREAL learns graph representations using connection subgraphs by employing the analogy of graphs with electrical circuits. It preserves both local and global connectivity patterns, and addresses the issue of high-degree nodes. Further, it exploits the strength of weak ties and meta-data that have been neglected by baselines. The experiments show that SURREAL outperforms state-of-the-art algorithms by up to 36.85% on multi-label classification problem. Further, in contrast to baselines, SURREAL, being deterministic, is completely stable.
Studying the Effects of Task Notification Policies on Participation and Outcomes in On-the-go Crowdsourcing
(2016)

Recent years have seen the growth of physical crowdsourcing systems (e.g., Uber; TaskRabbit) that motivate large numbers of people to provide new and improved physical tasking and delivery services on-demand. In these systems, opportunistically relying on people to make convenient contributions may lead to incomplete solutions, while directing people to do inconvenient tasks requires high incentives. To increase people’s willingness to participate and reduce the need to incentivize participation, we study on-the-go crowdsourcing as an alternative approach that suggests tasks along people’s existing routes that are conveniently on their way. We explore as a first step in this paper the design of task notification policies that decide when, where, and to whom to suggest tasks. Situating our work in the context of practical problems such as package delivery and lost-and-found searches, we conducted controlled experiments that show how small changes in task notification policy can influence individual participation and actions in significant ways that in turn affect system outcomes. We discuss the implications of our findings on the design of future on-the-go crowdsourcing technologies.
Managing and Mining Uncertain Data
(2009)

In recent years, uncertain data has become ubiquitous because of new technologies for collecting data which can only measure and collect the data in an imprecise way. Furthermore, many technologies such as privacy-preserving data mining create data which is inherently uncertain in nature. As a result there is a need for tools and techniques for mining and managing uncertain data. This chapter discusses the broad outline of the book and the methods used for various uncertain data applications.
Model-Driven Data Acquisition in Sensor Networks
(2004)

Declarative queries are proving to be an attractive paradigm for interacting with networks of wireless sensors. The metaphor that “the sensornet is a database” is problematic, however, because sensors do not exhaustively represent the data in the real world. In order to map the raw sensor readings onto physical reality, a modelof that reality is required to complement the readings. In this paper, we enrich interactive sensor querying with statistical modeling techniques. We demonstrate that such models can help provide answers that are both more meaningful, and, by introducing approximations with probabilistic confidences, significantly more efficient to compute in both time and energy. Utilizing the combination of a model and live data acquisition raises the challenging optimization problem of selecting the best sensor readings to acquire, balancing the increase in the confidence of our answer against the communication and data acquisition costs in the network. We describe an exponential time algorithm for finding the optimal solution to this optimization problem, and a polynomial-time heuristic for identifying solutions that perform well in practice. We evaluate our approach on several real-world sensor-network data sets, taking into account the real measured data and communication quality, demonstrating that our model-based approach provides a high-fidelity representation of the real phenomena and leads to significant performance gains versus traditional data acquisition techniques.
ProbView: A Flexible Probabilistic Database System
(1997)

Probability theory is mathematically the best understood paradigm for modeling and manipulating uncertain information. Probabilities of complex events can be computed from those of basic events on which they depend, using any of a number of strategies. Which strategy is appropriate depends very much on the known interdependencies among the events involved. Previous work on probabilistic databases has assumed a fixed and restrictivecombination strategy (e.g., assuming all events are pairwise independent). In this article, we characterize, using postulates, whole classes of strategies for conjunction, disjunction, and negation, meaningful from the viewpoint of probability theory. (1) We propose a probabilistic relational data model and a genericprobabilistic relational algebra that neatly captures various strategiessatisfying the postulates, within a single unified framework. (2) We show that as long as the chosen strategies can be computed in polynomial time, queries in the positive fragment of the probabilistic relational algebra have essentially the same data complexity as classical relational algebra. (3) We establish various containments and equivalences between algebraic expressions, similar in spirit to those in classical algebra. (4) We develop algorithms for maintaining materialized probabilistic views. (5) Based on these ideas, we have developed a prototype probabilistic database system called ProbView on top of Dbase V.0. We validate our complexity results with experiments and show that rewriting certain types of queries to other equivalent forms often yields substantial savings.
Data augmentation for deep convolutional neural network acoustic modeling
(2015)

This paper investigates data augmentation based on label-preserving transformations for deep convolutional neural network (CNN) acoustic modeling to deal with limited training data. We show how stochastic feature mapping (SFM) can be carried out when training CNN models with log-Mel features as input and compare it with vocal tract length perturbation (VTLP). Furthermore, a two-stage data augmentation scheme with a stacked architecture is proposed to combine VTLP and SFM as complementary approaches. Improved performance has been observed in experiments conducted on the limited language pack (LLP) of Haitian Creole in the IARPA Babel program.
Pointwise Prediction and Sequence-Based Reranking for Adaptable Part-of-Speech Tagging
(2015)

This paper proposes an accurate method for partof-speech (POS) tagging that is highly domain-adaptable. The method is based on an assumption that the POS transition tendencies do not depend on domains, and has the following three characteristics: 1) it is trainable from partially annotated data, 2) it uses efficiently trainable pointwise POS taggers to allow for active learning, and 3) is more accurate than the pointwise or sequence-based POS taggers. The proposed method estimates POS tags by stacking pointwise and sequence-based predictors. In the experiments we deal with the joint problem of word segmentation and POS tagging in Japanese. We show that our proposed stacking process improves over pointwise and sequence-based methods (hidden Markov models and conditional random fields) both in the general domain and the target domain. In addition we show the learning curve in a domain adaptation scenario. The result shows that our method outperforms state-of-the-art methods in the same domain as the training data and is better than them in domain adaptation situations as well. Keywords-Active learning; Reranking; Word segmentation; Part-of-speech tagging; Pointwise prediction;
Smart RDF Data Storage in Graph Databases
(2017)

Graph Database Management Systems (GDBMs) provide an effective and efficient solution to data storage in current scenarios where data are more and more connected, graph models are widely used, and systems need to scale to large data sets. In particular, the conversion of the persistent layer of an application from a RDF to a graph data store can be convenient but it is usually an hard task for database administrators. In this paper we propose a methodology to convert a RDF data store to a graph database by exploiting the ontology and the constraints of the source. We provide experimental results that show the feasibility of our solution and the efficiency of query answering over the target database.